1. 2004 CAPSTONE CDR Team SAFE Members Anders Fornberg Alejandro Henriquez Shannon Lahr Aaron Lyons Sean Groves Shannon

2. Presentation Overview Project Overview System Specification Subsystem Design Processor & FPGA Power & Structures Sensors & Motors Current Status and Project Goals Shannon

3. Project Description Modified RC car that can sense an accident threat and take corrective action Detects and Prevents multiple accidents Head on Collisions Merging into blind spots Backing into Stationary Objects Shannon

4. Modes of Operation 3 Modes of operation 1) User has complete control of the RC car. 2) Primary: SAFE System provides audible warning when an accident is immanent. If corrective action is not taken than Safe System takes control. 3) When accident is immanent, SAFE System takes immediate action and assumes control from the user. Shannon

5. System Overview Aaron

6. Interface Specification Aaron

7. Interrupt Type Aaron

8. Current Speed Aaron

9. Speed Action Aaron

10. Turn Action Aaron

11. Core Microprocessor MC68HC11E0 Basic Functionality Manager Memory access Data execution FPGA IRQ requests Sensors LCD control 20x4 DMC-20434N RS232 Communication Downloading Data Alex

12. FPGA XCS10 Basic Functionality Work Horse Read Sensors Chip Select Send Interrupts (XIRQ) Provide HC11 with: Interrupt reg. Speed reg. Distance reg. Receive Data from HC11 Speed Action reg. Turn Action reg. Interrupt car control Speed Controller Steering Controller Alex

14. Memory Map Alex

15. Power Shannon

16. Power Continued 20ft tether to power car during testing 3 9V batteries in parallel for expo 150mAh/battery = 450mAh Expected mAh of project: Board = 100mA 6 Sensors = 180 mA LCD Screen = 4.5mA Total = Approximately 300mA Shannon

17. Structures Shannon

18. Structures Continued Shannon

19. Structures Continued Shannon

20. Structures Continued Shannon

21. Drive/Steering Motor Control Anders

22. Steering Motor Waveform Pulse Steering Motor Motor Burst Rate20ms Forward Pulse Width1.5ms Max Left1ms Max Right2ms Slight Left1.4ms Slight Right1.6ms Anders

23. Pulse Drive Motor Burst Rate20ms Neutral PW1.5ms Max Forward PW1ms Max Reverse PW2ms Vmax4.125 Drive Motor Waveform Anders

24. Sensor Package Problems Encountered Voltage level would drift for various reason Highly Dependent on surface tilt and material Non linear output at large distances “Sort of” reliable at < 40 inches Needed use of op-amp, AC to DC, and A-D converter Anders

25. Sensor Package SRF04 Voltage5v Current30mA Typ. 50mA Max Maximum Range3 m Minimum Range3 cm DensitivityDetect a 3cm diameter stick at >2 m Size1.75”w x.625”h x.5” d Anders

26. Sensor Data Equation For Linear Section t=.1461*d+.0144 Anders

27. Sensor Field Anders

28. Current Status Processor and Memory Sean

29. Processor and Memory Wired and tested Runs Code from EPROM Fully functional RAM Serial Port Construction New clock Sean

30. Current Status FPGA and EPROM Sean

31. FPGA and EPROM Sean 0 0 1 1 1 1

32. Problems Encountered Learning Curve Wire-wrap Issues B-scan for FPGA Xilinx project navigator link to Impact Power-Ground Short Inaccurate Part Specifications Labeling Sean

33. Division of Labor Aaron Lyons Software Development Core Microprocessor RC Car Test & Modification Alex Henriquez Core Microprocessor Software Development Sensors Anders Fornberg Sensors RC Car Test Motor Control Sean Groves Power Core Microprocessor Motor Control Shannon Lahr Motor Control Power RC Car Test Everyone Documentation Project/Deadline Management Lead for the task Sean

34. Milestone 1 FPGA control of drive/steering and Chip Select Sampling from Sensors Interrupt Controller Dip Switches RS232 Communication Sean

35. Milestone 2 Boot Monitor LCD Implementation Mounting Specifications LED/Audio Integration Subsystem Integration Multiple Mode Operation Sean

36. Future Concerns Physical limitations that software can not cope with Tracking Speed of Sensors Board integrity during testing Low Speed Response Sean

37. Project Scheduale Project Schedule Sean

38. Parts List/Cost Estimate Sean

39. QUESTIONS???